joao-aguizo · March 17, 2022 15:12 · joao-aguizo · Mar 17, 2022
diff --git a/mbf_costmap_nav.yaml b/mbf_costmap_nav.yaml
 #########################
 ### Static Parameters ###
 #########################
 robot_frame: base_link # the frame of the robot, which will be used to determine its position
 map_frame: map # the global frame the robot is controlling in
 force_stop_at_goal: false # force move base flex to stop the robot once the goal is reached
 force_stop_on_cancel: false # force move base flex to stop the robot on navigation cancellation
 mbf_tolerance_check: false # force move base flex to check for the goal tolerance
 dist_tolerance: 0.1 # distance tolerance to the given goal pose
 angle_tolerance: 0.175 # angle tolerance to the given goal pose
 tf_timeout: 1.0 # time before a timeout used for tf requests

 #################################################
 ### Dynamically Reconfigurable MBF Parameters ###
 #################################################

 # Planners
 planners: # global planner, e.g. navfn/NavfnROS
  - name: GlobalPlanner
    type: global_planner/GlobalPlanner

 planner_frequency: 0.0 # the rate in Hz at which to run the planning loop
 planner_max_retries: 0 # how many times we will recall the planner in an attempt to find a valid plan before giving up
 planner_patience: 2.0 # how long the planner will wait in seconds in an attempt to find a valid plan before giving up

 # Controllers
 controllers: # list of controller, e.g. eband_local_planner/EBandPlannerROS
  - name: TebLocalPlannerROS
    type: teb_local_planner/TebLocalPlannerROS

 controller_frequency: 8.0 # the rate in Hz at which to run the control loop and send velocity commands to the base
 controller_max_retries: -1 # how many times we will recall the controller in an attempt to find a valid command before giving up
 controller_patience: -1.0 # how long the controller will wait in seconds without receiving a valid control before giving up

 # Oscillation
 oscillation_timeout: 0.0 # how far in meters the robot must move to be considered not to be oscillating
 oscillation_distance: 0.5 # how long in seconds to allow for oscillation before executing recovery behaviors

 # Other
 recovery_enabled: false # enable the move_base_flex recovery behaviors to attempt to clear out space
 recovery_patience: 15.0 # how much time we allow recovery behaviors to complete before canceling (or stopping if cancel fails).
 restore_defaults: false # restore to the original configuration
 shutdown_costmaps: false # shutdown the costmaps of the node when move_base_flex is in an inactive state.
 shutdown_costmaps_delay: 1.0 # how long in seconds to wait after last action before shutting down the costmaps.
	#########################
	### Static Parameters ###
	#########################
	robot_frame: base_link # the frame of the robot, which will be used to determine its position
	map_frame: map # the global frame the robot is controlling in
	force_stop_at_goal: false # force move base flex to stop the robot once the goal is reached
	force_stop_on_cancel: false # force move base flex to stop the robot on navigation cancellation
	mbf_tolerance_check: false # force move base flex to check for the goal tolerance
	dist_tolerance: 0.1 # distance tolerance to the given goal pose
	angle_tolerance: 0.175 # angle tolerance to the given goal pose
	tf_timeout: 1.0 # time before a timeout used for tf requests

	#################################################
	### Dynamically Reconfigurable MBF Parameters ###
	#################################################

	# Planners
	planners: # global planner, e.g. navfn/NavfnROS
	- name: GlobalPlanner
	type: global_planner/GlobalPlanner

	planner_frequency: 0.0 # the rate in Hz at which to run the planning loop
	planner_max_retries: 0 # how many times we will recall the planner in an attempt to find a valid plan before giving up
	planner_patience: 2.0 # how long the planner will wait in seconds in an attempt to find a valid plan before giving up

	# Controllers
	controllers: # list of controller, e.g. eband_local_planner/EBandPlannerROS
	- name: TebLocalPlannerROS
	type: teb_local_planner/TebLocalPlannerROS

	controller_frequency: 8.0 # the rate in Hz at which to run the control loop and send velocity commands to the base
	controller_max_retries: -1 # how many times we will recall the controller in an attempt to find a valid command before giving up
	controller_patience: -1.0 # how long the controller will wait in seconds without receiving a valid control before giving up

	# Oscillation
	oscillation_timeout: 0.0 # how far in meters the robot must move to be considered not to be oscillating
	oscillation_distance: 0.5 # how long in seconds to allow for oscillation before executing recovery behaviors

	# Other
	recovery_enabled: false # enable the move_base_flex recovery behaviors to attempt to clear out space
	recovery_patience: 15.0 # how much time we allow recovery behaviors to complete before canceling (or stopping if cancel fails).
	restore_defaults: false # restore to the original configuration
	shutdown_costmaps: false # shutdown the costmaps of the node when move_base_flex is in an inactive state.
	shutdown_costmaps_delay: 1.0 # how long in seconds to wait after last action before shutting down the costmaps.
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